A Design of Three-Dimensional Spatial Path Planning Algorithm Based on Vector Field Histogram

被引:0
|
作者
Zong, Chenning [1 ]
Du, Qiaoling [1 ]
Chen, Jianxv [1 ]
Shan, Yiran [1 ]
Wu, Yanpei [1 ]
Sha, Zhida [1 ]
机构
[1] Jilin Univ, Coll Elect Sci & Engn, Changchun 130012, Peoples R China
关键词
path planning; VFH*; three-dimensional path; robot travel; OBSTACLE AVOIDANCE; LASER RANGEFINDER; ASTERISK; TREE;
D O I
10.3390/s24175647
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
In this paper, we present a novel three-dimensional spatial path planning algorithm based on the Vector Field Histogram* (VFH*) approach, specifically tailored for underwater robotics applications. Our method leverages the strengths of VFH* in obstacle avoidance while enhancing its capability to handle complex three-dimensional environments. Through extensive simulations, we demonstrate the superior performance of our algorithm compared to traditional methods, such as RS-RRT algorithm. Our results show significant improvements in terms of computational efficiency and path optimality, making it a viable solution for real-time path planning in dynamic underwater environments.
引用
收藏
页数:17
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